Visualize Frustum

include/gz/rendering/FrustumVisual.hh

@@ -0,0 +1,180 @@
+/*
+ * Copyright (C) 2015 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#ifndef GZ_RENDERING_FRUSTUMVISUAL_HH_
+#define GZ_RENDERING_FRUSTUMVISUAL_HH_
+
+#include <gz/math/Angle.hh>
+#include <gz/math/AxisAlignedBox.hh>
+#include <gz/math/Plane.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/utils/ImplPtr.hh>
+#include "gz/rendering/config.hh"
+#include "gz/rendering/Visual.hh"
+#include "gz/rendering/Object.hh"
+#include "gz/rendering/RenderTypes.hh"
+#include "gz/rendering/Marker.hh"
+
+namespace gz
+{
+  namespace rendering
+  {
+    inline namespace GZ_RENDERING_VERSION_NAMESPACE {
+    //
+    /// \brief Planes that define the boundaries of the frustum.
+    enum GZ_RENDERING_VISIBLE FrustumVisualPlane
+    {
+      /// \brief Near plane
+      FRUSTUM_PLANE_NEAR   = 0,
+
+      /// \brief Far plane
+      FRUSTUM_PLANE_FAR    = 1,
+
+      /// \brief Left plane
+      FRUSTUM_PLANE_LEFT   = 2,
+
+      /// \brief Right plane
+      FRUSTUM_PLANE_RIGHT  = 3,
+
+      /// \brief Top plane
+      FRUSTUM_PLANE_TOP    = 4,
+
+      /// \brief Bottom plane
+      FRUSTUM_PLANE_BOTTOM = 5
+    };
+
+    /// \brief Mathematical representation of a frustum and related functions.
+    /// This is also known as a view frustum.
+    class GZ_RENDERING_VISIBLE FrustumVisual : public virtual Visual
+    {
+      /// \brief Default constructor. With the following default values:
+      ///
+      /// * near: 0.0
+      /// * far: 1.0
+      /// * fov: 0.78539 radians (45 degrees)
+      /// * aspect ratio: 1.0
+      /// * pose: Pose3d::Zero
+      protected: FrustumVisual();
+
+      /// \brief Destructor
+      public: virtual ~FrustumVisual();
+
+      /// \brief Constructor
+      /// \param[in] _near Near plane distance. This is the distance from
+      /// the frustum's vertex to the closest plane
+      /// \param[in] _far Far plane distance. This is the distance from the
+      /// frustum's vertex to the farthest plane.
+      /// \param[in] _fov Field of view. The field of view is the
+      /// angle between the frustum's vertex and the edges of the near or far
+      /// plane. This value represents the horizontal angle.
+      /// \param[in] _aspectRatio The aspect ratio, which is the width divided
+      /// by height of the near or far planes.
+      /// \param[in] _pose Pose of the frustum, which is the vertex (top of
+      /// the pyramid).
+      /*protected: FrustumVisual(double _near,
+                      double _far,
+                      const math::Angle &_fov,
+                      double _aspectRatio,
+                      const gz::math::Pose3d &_pose = gz::math::Pose3d::Zero);*/
+
+      public: virtual void Update() = 0;
+
+      /// \brief Get the near distance. This is the distance from the
+      /// frustum's vertex to the closest plane.
+      /// \return Near distance.
+      /// \sa SetNear
+      public: virtual double Near() const = 0;
+
+      /// \brief Set the near distance. This is the distance from the
+      /// frustum's vertex to the closest plane.
+      /// \param[in] _near Near distance.
+      /// \sa Near
+      public: virtual void SetNear(double _near) = 0;
+
+      /// \brief Get the far distance. This is the distance from the
+      /// frustum's vertex to the farthest plane.
+      /// \return Far distance.
+      /// \sa SetFar
+      public: virtual double Far() const = 0;
+
+      /// \brief Set the far distance. This is the distance from the
+      /// frustum's vertex to the farthest plane.
+      /// \param[in] _far Far distance.
+      /// \sa Far
+      public: virtual void SetFar(double _far) = 0;
+
+      /// \brief Get the horizontal field of view. The field of view is the
+      /// angle between the frustum's vertex and the edges of the near or far
+      /// plane. This value represents the horizontal angle.
+      /// \return The field of view.
+      /// \sa SetFOV
+      public: virtual gz::math::Angle FOV() const = 0;
+
+      /// \brief Set the horizontal field of view. The field of view is the
+      /// angle between the frustum's vertex and the edges of the near or far
+      /// plane. This value represents the horizontal angle.
+      /// \param[in] _fov The field of view.
+      /// \sa FOV
+      public: virtual void SetFOV(const gz::math::Angle &_fov) = 0;
+
+      /// \brief Get the aspect ratio, which is the width divided by height
+      /// of the near or far planes.
+      /// \return The frustum's aspect ratio.
+      /// \sa SetAspectRatio
+      public: virtual double AspectRatio() const = 0;
+
+      /// \brief Set the aspect ratio, which is the width divided by height
+      /// of the near or far planes.
+      /// \param[in] _aspectRatio The frustum's aspect ratio.
+      /// \sa AspectRatio
+      public: virtual void SetAspectRatio(double _aspectRatio) = 0;
+
+      /// \brief Get a plane of the frustum.
+      /// \param[in] _plane The plane to return.
+      /// \return Plane of the frustum.
+      public: virtual gz::math::Planed Plane(const FrustumVisualPlane _plane) const = 0;
+
+      /// \brief Check if a box lies inside the pyramid frustum.
+      /// \param[in] _b Box to check.
+      /// \return True if the box is inside the pyramid frustum.
+      //public: virtual bool Contains(const gz::math::AxisAlignedBox &_b) const = 0; //TO-DO
+
+      /// \brief Check if a point lies inside the pyramid frustum.
+      /// \param[in] _p Point to check.
+      /// \return True if the point is inside the pyramid frustum.
+      //public: virtual bool Contains(const gz::math::Vector3d &_p) const = 0; //TO-DO
+
+      /// \brief Get the pose of the frustum
+      /// \return Pose of the frustum
+      /// \sa SetPose
+      public: virtual gz::math::Pose3d Pose() const = 0;
+
+      /// \brief Set the pose of the frustum
+      /// \param[in] _pose Pose of the frustum, top vertex.
+      /// \sa Pose
+      public: virtual void SetPose(const gz::math::Pose3d &_pose) = 0;
+
+      /// \brief Compute the planes of the frustum. This is called whenever
+      /// a property of the frustum is changed.
+      private: void ComputePlanes();
+
+      /// \brief Private data pointer
+      //GZ_UTILS_IMPL_PTR(dataPtr)
+    };
+    }
+  }
+}
+#endif

include/gz/rendering/RenderTypes.hh

@@ -72,6 +72,7 @@ namespace gz
     class LightVisual;
     class JointVisual;
     class LidarVisual;
+    class FrustumVisual;
     class Light;
     class Marker;
     class Material;
@@ -206,6 +207,10 @@ namespace gz
     /// \brief Shared pointer to LidarVisual
     typedef shared_ptr<LidarVisual> LidarVisualPtr;
 
+    /// \typedef FrustumVisualPtr
+    /// \brief Shared pointer to FrustumVisual
+    typedef shared_ptr<FrustumVisual> FrustumVisualPtr;
+
     /// \typedef MaterialPtr
     /// \brief Shared pointer to Material
     typedef shared_ptr<Material> MaterialPtr;
@@ -384,6 +389,10 @@ namespace gz
     /// \brief Shared pointer to const LidarVisual
     typedef shared_ptr<const LidarVisual> ConstLidarVisualPtr;
 
+    /// \typedef const FrustumVisualPtr
+    /// \brief Shared pointer to const FrustumVisual
+    typedef shared_ptr<const FrustumVisual> ConstFrustumVisualPtr;
+
     /// \typedef const MaterialPtr
     /// \brief Shared pointer to const Material
     typedef shared_ptr<const Material> ConstMaterialPtr;

include/gz/rendering/Scene.hh

@@ -1108,6 +1108,34 @@ namespace gz
       public: virtual LidarVisualPtr CreateLidarVisual(
                   unsigned int _id, const std::string &_name) = 0;
 
+      /// \brief Create new frusum visual. A unique ID and name will
+      /// automatically be assigned to the frustum visual.
+      /// \return The created frustum visual
+      public: virtual FrustumVisualPtr CreateFrustumVisual() = 0;
+
+      /// \brief Create new frustum visual with the given ID. A unique name
+      /// will automatically be assigned to the frustum visual. If the given
+      /// ID is already in use, NULL will be returned.
+      /// \param[in] _id ID of the new frustum visual
+      /// \return The created frustum visual
+      public: virtual FrustumVisualPtr CreateFrustumVisual(unsigned int _id) = 0;
+
+      /// \brief Create new frustum visual with the given name. A unique ID
+      /// will automatically be assigned to the frustum visual. If the given
+      /// name is already in use, NULL will be returned.
+      /// \param[in] _name Name of the new frustum visual
+      /// \return The created frustum visual
+      public: virtual FrustumVisualPtr CreateFrustumVisual(
+                  const std::string &_name) = 0;
+
+      /// \brief Create new frustum visual with the given name. If either
+      /// the given ID or name is already in use, NULL will be returned.
+      /// \param[in] _id ID of the frustum visual.
+      /// \param[in] _name Name of the new frustum visual.
+      /// \return The created frustum visual
+      public: virtual FrustumVisualPtr CreateFrustumVisual(
+                  unsigned int _id, const std::string &_name) = 0;
+
       /// \brief Create new heightmap geomerty. The rendering::Heightmap will be
       /// created from the given HeightmapDescriptor.
       /// \param[in] _desc Data about the heightmap